.. _Navigation:

Navigation
==========

To switch into navigation mode:

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-navigation-mode.png
	:width: 48

Navigation mode allows for autonomous operation.

If needed initialize the localization first via the `Pose Estimate Tool`, see below.


Set Goal Pose
-------------

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-set-goal-pose.png
	:width: 48

``Left Click`` and hold to define a new goal pose.


Set Goal Station
----------------

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-set-goal-station.png
	:width: 48

``Left Click`` on a map station to set a new goal station.


Cancel Goal
-----------

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-stop.png
	:width: 48

Will abort the current goal and stop immediately.


Pose Estimate Tool
------------------

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-set-pose-estimate.png
	:width: 48

``Left Click`` and hold to define a pose estimate (initialize localization).
``Rigth Click`` and hold to shift the pose estimate in XY direction (initialize localization).


Set Pose Tool
-------------

In simulation mode it is possible to "teleport" the platform via:

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-set-pose.png
	:width: 48

``Left Click`` and hold to define a pose.